平动式啮合电机的结构设计与基本特性研究
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摘要
为了满足机器人系统对续航能力和空间适应性的要求,本文提出了一种新结构、新原理的机器人关节用低速大扭矩电动机—平动式啮合电动机。它是一种通过定转子间磁阻的变化将电能转化为机械能,在平行四边形结构的约束下使转子绕定子作圆周平动,进而可直接由转子带动摆线机构,利用摆线机构的减速作用输出大扭矩的高集成度电动机。由于该电机通过摆线齿轮啮合机构带动负载,避免了直接驱动电机受负载不稳影响较大的缺点,同时由于齿轮啮合传动,摩擦损失小、传动效率高,因此该结构较依靠定转子之间的摩擦力输出低转速、大扭矩的超声波及谐波减速电机有更高的效率和使用寿命。在本文中对该新型电机的运行机理、设计特点、磁场分布、稳态运行性能及启动特性进行了系统的理论分析,设计制造了原理样机并进行了样机试验。
文中在对平动式啮合电机的结构特点和运行原理进行详细阐述的基础上,将平动式啮合电机的基本电磁原理与磁阻电机进行了比较,从能量转换角度对平动式啮合电机的基本性能和特点进行了分析。将平动式啮合电机依据其功能分四大部分作了较详细的分析,列举了四大机构演化出的具有实用前景的可选结构,并进行了结构间的性能比较。最终归纳出了实用性强,并具有理论研究价值的两种具有典型平动式啮合电机特征的结构组合,分别命名为平动电机和柔性平动电机,同时确立了平动式啮合电机驱动电路的基本形式。
考虑到平动电机原理样机的独特结构,沿用磁阻电机的研究思路,采用有限元方法建立了该电机的二维磁场模型,对电机磁场分布和磁路特点进行了初步分析。通过获得的不同转角下磁化曲线簇,并借助磁共能方法获得了电机矩角特性。探讨了电机的气隙长度,定子极弧角度、定子轭厚等结构参数对电机转矩特性的影响。最后采用非线性磁参数法建立了电机动态分析模型,并利用建立的磁参数库和矩角特性曲线,对平动电机的稳态和启动特性进行了分析。
为了满足电机优化设计和实时控制的需要,针对平动电机的特殊结构建立了便于计算的等效磁路模型。该模型是在对平动电机二维磁场进行深入分析的基础上,借用磁力线和等磁位线互换的方法,将磁力线分布不均匀的磁通管引入到分析模型中,采用等效磁路法建立了非线性分析模型。该模型对电机磁场分布不均和磁路局部饱和现象进行有效处理,减少了模型中磁通管单元的数量,使模型简化并兼顾了求解精度。在该分析模型的基础上,推导出了电机绕组满足的以绕组磁链为状态变量的微分方程,建立了电机稳态运行分析的数学模型。对电机单相导通状态下的稳态运行特性进行了仿真分析,其结果与非线性磁参数法所得结果相吻合。
为避免平动电机中转子平动所引发的惯性力以及由其定转子结构特点所决定的磁路耦合现象,本文通过引入柔性机构,将定转子磁极分开,避免了不同磁极磁路的耦合,在简化结构的同时实现了定转子相向运动,弱化了惯性力对电机整体运行的不良影响。使该类电机采用解析方法便可对磁路进行分析,柔性电机的有限元分析结果也表明该电机所用的解析方法在一定参数范围内具有较好的准确性。
柔性机构的加入,也使电机的机械部分的分析变得复杂,需要充分考虑柔性机构对电机整体性能的影响。因此本文着重对柔性铰链在转子运动过程中所产生的弹性变形对电磁转矩输出的影响进行了分析,建立了计入柔性铰链静刚度和导向框架引起的x,y向运动质量不等以及柔性轴径向刚度后的电机振动模型,并讨论了电机振动的影响因素。
最后,在理论分析的基础上,作者研制了平动式啮合电机的原理样机,样机实验证明了该电机结构新颖合理,实现了设计初衷。同时理论分析和样机实验均表明定子相对电机机架浮动的结构能够较好地抵消转子偏心运动带来的振动,体现该类型电机具有较高的研究价值和较好的应用前景。
This dissertation presents a type of low speed and high torque motor applied in robot joint——translation meshing motor (TMM) with new structure and new principle which meets the need of space endurance and space fitness of robot It is a new motor which integrates reduction gears into the drive and translates the electric energy into the mechanical energy through the reluctance variety between the stator and the rotor. The rotor of this new motor is constrained to move around the stator by circle translation with a parallelogram linkage, and drives the cycloid machine to output big torque. This type of motor reduces the influence of load fluctuation through cycloid gears to drive load. And because of fewer frictions between driving and driven gears, the motor has higher efficiency and longer life man the ultrasonic motors and the harmonic gear motors. In mis dissertation, profound study is involved in several aspects, including basic operation principle, design features, magnetic field distribution, steady and starting performance characteristics. And then the prototypes of TMM have been designed, manufactured and experimented.
In this dissertation, the features of construction and principle of operation of TMM are discussed in details. Compared with the basic magnetic principle of reluctance motor, the performances and features of the TMM are analyzed through energy method. TMM can be divided into four partitions according to function, and more useful structures deduced from the four partitions are introduced. Finally, from these structures, two typical TMM constructions that have more practical and theoretical are concluded, and named translational motor and flexible translational motor, respectively.
Considering the unique structure of the translational motor, following the method applied in reluctance motor, Finite Element Method (FEM) of translational motor is founded, and then Magnetic field distribution and magnetic circuit characteristics is analyzed primarily. So the flux linkages at different rotor angles are calculated. By the FEM and co-energy method, the static characteristics of translational motor are obtained. The influences of gap length, polar arc and thick of stator yoke on electromagnetic torque are discussed. At last, the nonlinear magnetization data model is established to analyze the dynamic characteristics of the translational motor, and the steady state and starting features are obtained by the magnetization and torque-angle curves.
The Magnetic Equivalent Circuit (MEC) model is founded aiming at the special structure of the translational motor for optimum design and real-time control of the motor. Borrowing the exchange principle of magnetic line of force and magnetic equipotential line, the tube in which the flux distribution is non-uniform is applied to the model. With these measures, the local saturation of the motor is treated and the number of flux tube units is reduced in order that the model is simplified. Based on the model, a steady state analysis model of the translational motor is founded with the state equations established which takes the flux linkages of the phase windings as state variable. And the steady state characteristics of the prototype are obtained under single-phase excitation. Compared nonlinear magnetization data method results, the new model is proved concise and precise.
In this dissertation, a type of flexible translational motor is introduced to avoid the magnetic circuit coupling arising from structure feature of the stator and rotor and reduce the influence of the inertial force of rotor translation. Through using flexible mechanism this new motor divides the magnetic pole of the rotor and the magnetic pole of the stator, which avoids the different magnetic circuit coupling, produces the movement between the rotor and stator that are moving towards each other, which reduces the inertia force when the motor operates. Thus, the analytic method is applied to analyze the magnetic circuit of the motor, and the result is precise compared with FEM in some extent.
Furthermore, the flexible structure makes the structure analysis of the motor more complex, and the effects of the flexible structure on motor properties should be taken into account. So, the rigidity of the flexure hinge and the flexible shaft and the quality unevenness in x, y distinction caused by guidance frames are included in the analytic model. Then the oscillation equation is established, and the effects of the dynamic partitions on the performance of the motor are discussed.
Above the theoretical analysis, several prototypes are designed and manufactured. Through the prototype experiments, the construction of the translational meshing motor is testified to be reasonable and the original intention is realized. This motor is showed to be worth to research and has prospect of extensive application.
文中在对平动式啮合电机的结构特点和运行原理进行详细阐述的基础上,将平动式啮合电机的基本电磁原理与磁阻电机进行了比较,从能量转换角度对平动式啮合电机的基本性能和特点进行了分析。将平动式啮合电机依据其功能分四大部分作了较详细的分析,列举了四大机构演化出的具有实用前景的可选结构,并进行了结构间的性能比较。最终归纳出了实用性强,并具有理论研究价值的两种具有典型平动式啮合电机特征的结构组合,分别命名为平动电机和柔性平动电机,同时确立了平动式啮合电机驱动电路的基本形式。
考虑到平动电机原理样机的独特结构,沿用磁阻电机的研究思路,采用有限元方法建立了该电机的二维磁场模型,对电机磁场分布和磁路特点进行了初步分析。通过获得的不同转角下磁化曲线簇,并借助磁共能方法获得了电机矩角特性。探讨了电机的气隙长度,定子极弧角度、定子轭厚等结构参数对电机转矩特性的影响。最后采用非线性磁参数法建立了电机动态分析模型,并利用建立的磁参数库和矩角特性曲线,对平动电机的稳态和启动特性进行了分析。
为了满足电机优化设计和实时控制的需要,针对平动电机的特殊结构建立了便于计算的等效磁路模型。该模型是在对平动电机二维磁场进行深入分析的基础上,借用磁力线和等磁位线互换的方法,将磁力线分布不均匀的磁通管引入到分析模型中,采用等效磁路法建立了非线性分析模型。该模型对电机磁场分布不均和磁路局部饱和现象进行有效处理,减少了模型中磁通管单元的数量,使模型简化并兼顾了求解精度。在该分析模型的基础上,推导出了电机绕组满足的以绕组磁链为状态变量的微分方程,建立了电机稳态运行分析的数学模型。对电机单相导通状态下的稳态运行特性进行了仿真分析,其结果与非线性磁参数法所得结果相吻合。
为避免平动电机中转子平动所引发的惯性力以及由其定转子结构特点所决定的磁路耦合现象,本文通过引入柔性机构,将定转子磁极分开,避免了不同磁极磁路的耦合,在简化结构的同时实现了定转子相向运动,弱化了惯性力对电机整体运行的不良影响。使该类电机采用解析方法便可对磁路进行分析,柔性电机的有限元分析结果也表明该电机所用的解析方法在一定参数范围内具有较好的准确性。
柔性机构的加入,也使电机的机械部分的分析变得复杂,需要充分考虑柔性机构对电机整体性能的影响。因此本文着重对柔性铰链在转子运动过程中所产生的弹性变形对电磁转矩输出的影响进行了分析,建立了计入柔性铰链静刚度和导向框架引起的x,y向运动质量不等以及柔性轴径向刚度后的电机振动模型,并讨论了电机振动的影响因素。
最后,在理论分析的基础上,作者研制了平动式啮合电机的原理样机,样机实验证明了该电机结构新颖合理,实现了设计初衷。同时理论分析和样机实验均表明定子相对电机机架浮动的结构能够较好地抵消转子偏心运动带来的振动,体现该类型电机具有较高的研究价值和较好的应用前景。
This dissertation presents a type of low speed and high torque motor applied in robot joint——translation meshing motor (TMM) with new structure and new principle which meets the need of space endurance and space fitness of robot It is a new motor which integrates reduction gears into the drive and translates the electric energy into the mechanical energy through the reluctance variety between the stator and the rotor. The rotor of this new motor is constrained to move around the stator by circle translation with a parallelogram linkage, and drives the cycloid machine to output big torque. This type of motor reduces the influence of load fluctuation through cycloid gears to drive load. And because of fewer frictions between driving and driven gears, the motor has higher efficiency and longer life man the ultrasonic motors and the harmonic gear motors. In mis dissertation, profound study is involved in several aspects, including basic operation principle, design features, magnetic field distribution, steady and starting performance characteristics. And then the prototypes of TMM have been designed, manufactured and experimented.
In this dissertation, the features of construction and principle of operation of TMM are discussed in details. Compared with the basic magnetic principle of reluctance motor, the performances and features of the TMM are analyzed through energy method. TMM can be divided into four partitions according to function, and more useful structures deduced from the four partitions are introduced. Finally, from these structures, two typical TMM constructions that have more practical and theoretical are concluded, and named translational motor and flexible translational motor, respectively.
Considering the unique structure of the translational motor, following the method applied in reluctance motor, Finite Element Method (FEM) of translational motor is founded, and then Magnetic field distribution and magnetic circuit characteristics is analyzed primarily. So the flux linkages at different rotor angles are calculated. By the FEM and co-energy method, the static characteristics of translational motor are obtained. The influences of gap length, polar arc and thick of stator yoke on electromagnetic torque are discussed. At last, the nonlinear magnetization data model is established to analyze the dynamic characteristics of the translational motor, and the steady state and starting features are obtained by the magnetization and torque-angle curves.
The Magnetic Equivalent Circuit (MEC) model is founded aiming at the special structure of the translational motor for optimum design and real-time control of the motor. Borrowing the exchange principle of magnetic line of force and magnetic equipotential line, the tube in which the flux distribution is non-uniform is applied to the model. With these measures, the local saturation of the motor is treated and the number of flux tube units is reduced in order that the model is simplified. Based on the model, a steady state analysis model of the translational motor is founded with the state equations established which takes the flux linkages of the phase windings as state variable. And the steady state characteristics of the prototype are obtained under single-phase excitation. Compared nonlinear magnetization data method results, the new model is proved concise and precise.
In this dissertation, a type of flexible translational motor is introduced to avoid the magnetic circuit coupling arising from structure feature of the stator and rotor and reduce the influence of the inertial force of rotor translation. Through using flexible mechanism this new motor divides the magnetic pole of the rotor and the magnetic pole of the stator, which avoids the different magnetic circuit coupling, produces the movement between the rotor and stator that are moving towards each other, which reduces the inertia force when the motor operates. Thus, the analytic method is applied to analyze the magnetic circuit of the motor, and the result is precise compared with FEM in some extent.
Furthermore, the flexible structure makes the structure analysis of the motor more complex, and the effects of the flexible structure on motor properties should be taken into account. So, the rigidity of the flexure hinge and the flexible shaft and the quality unevenness in x, y distinction caused by guidance frames are included in the analytic model. Then the oscillation equation is established, and the effects of the dynamic partitions on the performance of the motor are discussed.
Above the theoretical analysis, several prototypes are designed and manufactured. Through the prototype experiments, the construction of the translational meshing motor is testified to be reasonable and the original intention is realized. This motor is showed to be worth to research and has prospect of extensive application.
引文
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